The U.S. military tracked the missile before it fell into the sea.
In a separate statement, the U.S. military also said the JCS chiefs talked about trilateral defense cooperation measures to tackle increasing North Korean nuclear and missile threats.
This image made from video of an undated still image broadcast in a news bulletin by North Korea's KRT on Monday, May 15, 2017, shows leader Kim Jong Un at what was said to be a missile test site at an undisclosed location in North Korea.
The White House said it was aware that North Korea had launched a midrange ballistic missile.
South Korean President Moon Jae-in goes on a hike with journalists in Seoul South Korea
"Now that its tactical and technical data met the requirements of the Party, this type of missile should be rapidly mass-produced in a serial way to arm the KPA Strategic Force", Kim said, referring to the North's army, according to the KCNA report.
A South Korean military official said the missile resembled North Korea's Pukguksong-2 type, an upgraded, extended-range version of its liquid-fuel submarine-launched ballistic missile.
During the liberal administration of President Roh Moo-hyun in 2003-2008, civic groups held summit anniversary events in Seoul and Pyongyang.
South Korea's new President Moon Jae-In has previously taken a more conciliatory line towards Pyongyang than his conservative predecessors, but has reacted strongly to the latest two missile tests.
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The council first imposed sanctions on Pyongyang in 2006.
Japan immediately issued a protest to North Korea over the missile test. Japan's Chief Cabinet Secretary Yoshihide Suga said the missile landed outside Japan's exclusive economic zone, and no damage to ships or airplanes was reported. "What we're doing in terms of our defense cooperation with South Korea is in no way comparable to the blatant disregard that North Korea has shown with respect to worldwide law and global concerns repeatedly about its nuclear weapons program", acting State Department Spokesman Mark Toner said in March.
North Korea's recent missile tests were a legitimate act of self-defence by a "fully-fledged nuclear power", North Korean diplomat Ju Yong Chol told the U.N. Conference on Disarmament in Geneva on Tuesday.
Pyongyang has defied all calls to rein in its nuclear and missile programs, even from China, its lone major ally, saying the weapons are needed for defence against United States aggression.
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The use of solid fuel presents advantages for weapons because it is more stable and can be transported easily allowing for a launch at very short notice from mobile launchers. The missile was lofted during testing, but were it to be fired along a standard trajectory under normal combat circumstances, expert observers suspect the weapon could hit targets over 1,200 miles away.
Every year, the United States holds joint military drills with South Korea.
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